Associative object tracking systems and methods

ABSTRACT

Systems and methods track a first object when continuous tracking information for the first object is not available. The systems and methods detect when the tracking information for the first object is not available. A last time of a last determined location of the first object is determined and a second object closest to the last determined location at the last time is determined. The location of the first object is associated with a location of the second object if tracking information for the first object is not available.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/163,242, filed May 24, 2016, which is a continuation of U.S. patentapplication Ser. No. 13/301,614, filed Nov. 21, 2011, now U.S. Pat. No.9,375,628 which issued Jun. 28, 2016, which claims the benefit ofpriority to U.S. Patent Application No. 61/415,707, titled “AssociativeObject Tracking Systems and Methods”, filed Nov. 19, 2010, each of whichis incorporated herein by reference in its entirety.

BACKGROUND

When tracking tags are attached to objects to be tracked, such asplayers of a sport for example, the identity of the tracking tag must beassociated with the player. This is typically a manual process where aperson manually identifies (e.g., reads the serial number off the tag)and manually enters that number into a database in association with theidentity of the object to which it is attached. This process isparticularly error-prone where tag numbers are typically sequential, asare the player identification numbers. Where tracking tag allocationoccurs before a game, there is a possibility of the player collecting anincorrect tracking tag, or accidentally swapping the tracking tag withthat of another player, just prior to the game. In each case, incorrectidentification information entered into the database results inincorrect tracking information. Further, where a tracking tag fails, theallocation of a new tracking tag requires that the database be amendedwith the identity of the new tracking tag that replaces the failed one;this again is a potential problem where conditions (e.g., at thesideline of a sports field) are not ideal for successful data entry.

When tracking objects that are moving unpredictably, the tracking systemoften loses ‘contact’ with the tracked object, such as when a player ina sporting event moves behind another player. Systems that visuallytrack objects require an uninterrupted line of sight from the trackingdevice (e.g., camera) to the object being tracked. When the object isnot imaged, tracking is not possible. Similarly, with a wirelesstracking system that uses radio waves to locate an object being tracked,if the radio signal is blocked then tracking of that object is notpossible. When tracking (visual or radio) is blocked temporarily, thelost information results in poor quality of the tracking information.

Achieving uninterrupted tracking of certain objects of interest “OOI” ina sporting event, such as a football or a hockey puck, presents uniquechallenges as these objects frequently lack line of site “LOS” todetection devices (receivers, cameras, etc.) positioned around the fieldof play. With tag based systems, continuous tracking can become sporadicin the absence of LOS. With optically based systems, continuous trackingis impossible in the absence of LOS.

SUMMARY

In one embodiment, a method tracks a first object when continuoustracking information for the first object is not available. The methoddetects when the tracking information for the first object is notavailable and, if tracking information for the first object is notavailable, performs the steps of: determining a last time of a lastdetermined location of the first object, determining a second objectclosest to the last determined location at the last time, andassociating the location of the first object with a location of thesecond object.

In another embodiment, an associative tracking apparatus tracks a firstobject using tracking information for the first object and trackinginformation for a second object. A tracking reliability monitordetermines when the tracking information for the first object is notreliable. A proximity detector identifies the second object as closestto the first object when the tracking reliability monitor determinesthat the tracking information for the first object is not reliable. Anassociative tracker associates a location of the first object with alocation of the second object when the tracking reliability monitordetermines that the tracking information for the first object is notreliable.

In another embodiment, a method tracks a first object using trackinginformation for a second object. Proximity of the first object to thesecond object is sensed. An indication of the sensed proximity istransmitted with the tracking information for the second object. Atracking apparatus receiving the tracking information detects whentracking information for the first object is not available and thelocation of the first object is associated with a location determinedfrom the tracking information when the tracking information for thefirst object is not available.

In another embodiment, a system tracks a first object using trackinginformation for a second object. The system includes a generator forgenerating a proximity signal relative to the first object. A sensorconfigured with the second object detects the proximity signal and atransmitter, configured with the second object, transmits trackinginformation for the second object and an indication of proximity of thefirst object to the second object based upon detection of the proximitysignal.

In another embodiment, a method automatically associates a tracking tagwith a tracked object. An object identity (ID) of the object locatedwithin a detection area is determined. A tracking ID of the tracking tagis determined from a radio signal received from the tracking tag and isassociated, within a database, with the object ID.

In another embodiment, a system automatically assigns a tracking tag toan object to be tracked. The system includes a receiver for receiving awireless signal from the tracking tag and an assignment device fordetermining a tracking tag identity (ID) of the tracking tag based uponthe wireless signal, for determining an object ID of the object whenpositioned within a detection area, and for associating the tracking tagID with the object ID within a database.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1A shows one exemplary tracking tag assignment system thatidentifies an object to be tracked using a camera, in an embodiment.

FIG. 1B shows one exemplary tracking tag assignment system that reads anRFID tag attached to the object being tracked, in an embodiment.

FIG. 2 shows the tracking tag of FIG. 1 in further exemplary detail.

FIG. 3A is a flowchart showing one exemplary method for assigning atracking tag ID to a tracked object identified by a camera, in anembodiment.

FIG. 3B is a flowchart showing one exemplary method for assigning atracking tag ID to a tracked object identified by an RFID tag, in anembodiment.

FIG. 4 shows one exemplary associative object tracking system trackingobjects of interest (OOI) during a football game within an operationalarea, in an embodiment.

FIG. 5A is a snapshot diagram showing exemplary positions of the OOIs,as determined by the tracking apparatus of FIG. 4, a short period afterthe positions illustrated in FIG. 4.

FIG. 5B is a snapshot diagram showing positions of the OOIs, asdetermined by the tracking apparatus of FIG. 4, a short time after thesnapshot of FIG. 5A.

FIG. 6A shows one exemplary table storing information of OOI andassigned tracking tags, in an embodiment.

FIG. 6B shows one exemplary virtual tag table that associates virtualtag IDs with the actual tracking tags assigned to OOI, in an embodiment.

FIGS. 7A and 7B show two exemplary snapshots of later positions ofplayers within the area.

FIGS. 8A and 8B are flowcharts illustrating exemplary methods forprocessing received tracking information and associatively tracking OOIswhen tracking information is not received, in an embodiment.

FIG. 9 shows one exemplary tracking tag, similar to the tracking tag ofFIG. 2, which also includes a proximity sensor.

FIG. 10 shows one exemplary tracking tag, similar to the tracking tag ofFIG. 2, which also includes a proximity transmitter.

FIG. 11 is a flowchart illustrating one exemplary method for tracking afirst object for which sufficient continuous tracking information is notavailable.

FIG. 12 is a graph illustrating exemplary timing of object trackinginformation in association with a feed delay period.

DETAILED DESCRIPTION OF THE DRAWINGS

FIG. 1A shows one exemplary tracking tag assignment system 100. System100 includes an assignment device 102, a receiver 104, a camera 106, anda transmitter 108. Receiver 104, camera 106, and transmitter 108 operatewithin a detection area 112. Objects to be tracked have one or moretracking tags 110 attached therewith. Typically, each object that istracked also has visually identifying features, such as one or more of acompetitor number, an identification number, and biometric features. Inthe example of FIG. 1, a football player 150 wearing a jersey with anidentification number 154 and a helmet 152 that includes a tracking tag110 enters detection area 112 and is imaged by camera 106. Althoughfootball is used as an example in FIG. 1, system 100 may performtracking tag assignment to other objects, such as athletes for othersports, vehicles, and so on.

FIG. 1B shows a tracking tag assignment system 140 configured with anRFID reader 114 for reading an RFID tag attached to the object beingtracked by tracking tag 110. In place of camera 106, as included withinsystem 100, system 140 includes RFID reader 114. Under control ofassignment device 102, RFID reader 114 reads information including anRFID tag ID from an RFID tag 156 that is attached to player 150. Forexample, RFID tag 156 may be built into equipment worn by player 150,such as the player's jersey, wherein information within the RFID tag mayindicate the player's number printed on the jersey. Information readfrom RFID tag 156 thereby allows assignment device 102 to identity theplayer. Other information may be included within the RFID tag, such as ateam number, without departing from the scope hereof. In the embodimentof system 140, detection area 112 represents an operational area of RFIDreader 114, such as defined by the wireless range of RFID reader 114.

It should be noted that tracking tag 110 provides at least locationinformation in real time and is considered an ‘active’ tag. RFID tag156, on the other hand, is a passive tag that stores information and canbe read using an RFID reader.

Similarly, a football may be manufactured to include an RFID tag 156 anda tracking tag 110. Information stored in the RFID tag indicates thatthe object is a football, thereby allowing assignment device 102 toassign the tracking tag ID of the included tracking tag to anidentification number (e.g., the RFID tag ID) of the football.Assignment device 102 may assign tracking tags to many footballs thatare used within a game, and although these footballs may beindistinguishable from each other, a tracking system (e.g., trackingsystem 400, FIG. 4) may use the assignment information to identify thefootball used for each game play.

Where assignment device 102, receiver 104, RFID reader 114, andtransmitter 108 are combined into a portable unit together with wirelessnetworking capability, this portable unit, through cooperation with atracking system (e.g., tracking system 400) over the wireless network,may provide portable tracking tag assignment, thereby facilitatingreplacement of failed tracking tags during a game. For example, byincluding a tracking tag with the portable unit, the tracking system maycorrelate the location of the portable unit with the location of thetracking tag identified by assignment device 102.

FIG. 2 shows tracking tag 110 of FIGS. 1A and 1B in further exemplarydetail. Tracking tag 110 includes a processor 202, a memory 204, atransmitter 206, and a receiver 208. Optionally, tracking tag 110includes one or more sensors 230 and/or a differential GPS locator 232.FIGS. 1A, 1B, and 2 are best viewed together with the followingdescription.

In one embodiment, transmitter 206 of tracking tag 110 and receiver 104utilize ultra-wideband (UWB) for radio location of tracking tag 110.Other means of locating tracking tag 110 may be used without departingfrom the scope hereof.

When player 150 is within detection area 112, camera 106 captures atleast one image 107 of identification number 154 on player 150, andreceiver 104 receives a signal (chirp) 111 from tracking tag 110.Detection area 112 may be conveniently located such that each player 150passes through detection area 112 to enter the playing field, forexample Assignment device 102 receives signal 111 from tracking tag 110,via receiver 104, and receives image 107 from camera 106. Assignmentdevice 102 uses known techniques to identify player 150 within image 107and includes an object tracking database 120 that has a list of players(e.g., player 150) and their associated identification information.Database 120 may include other information, such as the player'sposition on the team (e.g., quarterback, running back, center, lineman,etc.).

In the example of FIG. 1A, identification number 154 is captured withinimage 107 taken by camera 106, and the identification number “21” ofplayer 150 is determined by assignment device 102, for example by usingoptical character recognition, as known in the art. Assignment device102 then performs a look-up of the player's number (“21”) withindatabase 120 and assigns, to the identified player 150, the tracking tagID (e.g., tag ID 220, FIG. 2) received within signal 111 from trackingtag 110. Assignment device 102 automatically assigns a tag ID 124 oftracking tag 110 to the identity (e.g., an object ID 122) of player 150within database 120. For example, tag ID 220 is stored in database 120as tag ID 124. The use of system 100 eliminates human error in assigningtag IDs with objects being tracked.

In the example of FIG. 1B, information is read from RFID tag 156 by RFIDreader 114 and the identity of player 150 is determined. For example,information read from RFID tag 156 may include the jersey identificationnumber “21” of player 150. RFID tag 156 information is communicated toassignment device 102 as a message 115. Assignment device 102 thenperforms a look-up of the player's number (“21”) within database 120 andassigns the tracking tag ID (e.g., tag ID 220, FIG. 2) received withinsignal 111 from tracking tag 110 to the identified player 150.Assignment device 102 automatically assigns tracking tag ID 220 oftracking tag 110 (e.g., as tag ID 124) to the identity (e.g., object ID122) of player 150 within database 120. The use of system 140 eliminateshuman error in assigning tracking tag IDs with objects being tracked.

Database 120 may also contain information relating to an expectedactivity 126 of each tracked object (e.g., player 150). Using thefootball example of FIG. 1, activity 126 may represent the fieldposition of the player, and thus his expected movement on the fieldduring play. Based upon this expected activity and/or field position,defined within activity 126, a chirp rate 128 may be defined fortracking tag 110. Characteristics of tracking tag 110 may be preset to adefault configuration.

Upon associating object ID 122 with tag ID 124 of tracking tag 110,assignment device 102 utilizes transmitter 108 to set a chirp rate 222of tracking tag 110. Transmitter 108 operates to communicate wirelesslywith receiver 208 of tracking tag 110 based upon one or more of radiowaves, magnetic induction coupling, and infrared. Assignment device 102may set other parameters of tracking tag 110.

Tracking tag 110 may automatically enter a low power mode to save energy(and to increase battery life for example). For example, tracking tag110 may enter a low power mode after a defined period, such as theduration of a game plus one hour. Assignment device 102 activatestracking tag 110 by wirelessly setting characteristics of tracking tag110. For example, in low power mode, tracking tag 110 may reduce itschirp rate to save power, wherein assignment device 102 sets the chirprate 222 characteristic of tracking tag 110 based upon expected activityof the object being tracked. In low power mode, tracking tag 110 mayalso shut down any included sensors 230 to conserve power, whereinassignment device 102 sets characteristics of tracking tag 110 toconfigure sensor 230 operation. For example, assignment device 102 mayconfigure sensors 230 by setting characteristics including one or moreof sensor configuration (e.g., which sensor is active), sensorresolution (e.g., bits per reading), update rate (how often it sendsdata), threshold settings (e.g., where the sensor only reports when thesensed value is above or below specified thresholds), and a mode ofsensor operation (e.g., average, maximum, and minimum values).

In one example of operation, tracking tag 110 includes sensors 230 tosense certain biometrics of player 150, such as heart rate, oxygenlevel, respiration rate, and so on. Assignment device 102 usestransmitter 108 to set characteristics of sensors 230 to sample certainbiometric characteristics of player 150 based upon known physiologicaltraits of the player. Where use of certain sensors 230 within trackingtag 110 is not needed, these sensors may be configured by assignmentdevice 102 to remain inactive to save power.

Continuing with the football example of FIG. 1, if system 100determines, based upon database 120 information, that player 150 playsas a wide receiver, system 100 utilizes transmitter 108 to set the chirprate of tracking tag 110 to a high rate/frequency to improve trackingaccuracy, since the wide receiver is expected to run quickly and changedirection unpredictably. On the other hand, if system 100 determines,based upon database 120 information, that player 150 plays as a lineman,system 100 uses transmitter 108 to set the chirp rate of tracking tag110 to a lower frequency, since less movement is expected of thelineman.

System 100, 140 automatically identifies an object (e.g., player 150)within detection area 112, determines an ID of one or more tracking tags110 attached to that object, and assigns the identified tracking tags tothe identified object. Further, system 100, 140 may also configurecharacteristics of the identified tracking tags 110 based upon theexpected activities of the identified object. Thereby, system 100, 140avoids potential human error in populating object tracking database 120when tracking tags are assigned to players prior to a game.

Should tracking tag 110 become inoperable, a new tracking tag 110 may beattached to the object (e.g., player 150) and automatically assigned tothe object by system 100, 140 when the player is within detection area112.

FIG. 3A shows one exemplary method 300 for assigning a tracking tag IDto a tracked object (e.g., player 150). Method 300 is for exampleimplemented within assignment device 102 of FIG. 1. In step 302, method300 utilizes a camera to capture an image of an object in a detectionarea. In one example of step 302, assignment device 102 controls camera106 to capture image 107 of player 150 within detection area 112. Instep 304, method 300 utilizes a receiver to receive a signal from thetracking tag attached to the object. In one example of step 304,assignment device 102 receives a signal 111 from tracking tag 110 viareceiver 104. In step 306, method 300 determines, e.g., withinassignment device 102, the ID of the tracking tag from the receivedtracking tag signal. In one example of step 306, assignment device 102determines tag ID 220 from signal 111.

Step 308 is optional. In step 308, if included, method 300 verifies,within assignment device 102, that the location of the tracking tag iswithin the detection area. In one example of step 306, if implemented,assignment device 102 receives a determined location of the tracking tagfrom a tracking apparatus (e.g., tracking apparatus 408, FIG. 4), andverifies that the identified tracking tag is located within detectionarea 112. Optional step 308 provides additional security for determiningthat the identified tracking tag is attached to the object withindetection area 112.

In step 310, method 300 determines, within assignment device 102, anobject ID from the image captured in step 302. In one example of step310, assignment device 102 identifies player 150 based upon opticalcharacter recognition of identification number 154 on the jersey ofplayer 150 within image 107. In step 312, method 300 assigns, withinassignment device 102, the determined tracking tag ID to the determinedobject ID. In one example of step 312, assignment device 102 storesdetermined tracking tag ID 220 as tag ID 124 within object trackingdatabase 120, and in association with determined object ID 122.

Steps 314 and 316 are optional. In step 314, if included, method 300determines, within assignment device 102, characteristics for thetracking tag based upon the determined object ID. In one example of step314, assignment device 102 determines a chirp rate 128 associated withactivity 126 of object ID 122 from database 120. In step 316, ifincluded, method 300 configures, controlling transmitter 108 fromassignment device 102, characteristics of the tracking tag. In oneexample of step 316, assignment device 102, using transmitter 108, setschirp rate 222 of tracking tag 110 based upon chirp rate 128 determinedin step 314.

Steps of method 300 may occur in a different order without departingfrom the scope here; for example, step 301 may occur after step 306 orstep 308.

FIG. 3B shows one exemplary method 350 for assigning a tracking tag ID(e.g., tag ID 220) to a tracked object (e.g., player 150) using an RFIDreader (e.g., RFID reader 114). Method 350 is for example implementedwithin assignment device 102 of FIG. 1B. In step 352, method 350 reads,using an RFID reader controlled by assignment device 102, informationfrom an RFID tag that is attached to the tracked object within adetection area. In one example of step 352, assignment device 102controls RFID reader 114 to read, within detection area 112, informationfrom RFID tag 156 that is attached to a jersey of player 150. Theinformation for example contains at least an RFID tag ID and a jerseynumber. In step 354, method 350 receives, within assignment device 102,a signal from the tracking tag attached to the object. In one example ofstep 354, assignment device 102 receives a signal 111 from tracking tag110 via receiver 104. In step 356, method 350 determines, withinassignment device 102, the ID of the tracking tag from the receivedtracking tag signal. In one example of step 356, assignment device 102determines tag ID 220 from signal 111.

Step 358 is optional. In step 358, if included, method 350 verifies,within assignment device 102, that the location of the tracking tag iswithin the detection area. In one example of step 358, if implemented,assignment device 102 receives a determined location of tracking tag 110from a tracking apparatus (e.g., tracking apparatus 408, FIG. 4), andverifies that the identified tracking tag is located within detectionarea 112. Optional step 358 provides additional security for determiningthat the identified tracking tag is attached to the object withindetection area 112.

In step 360, method 350 determines, within assignment device 102, theobject ID from the information read from the RFID tag in step 352. Inone example of step 360, assignment device 102 identifies player 150based upon the jersey number stored within the information read fromRFID tag 156 and transmitted as message 115. In step 362, method 350assigns, within assignment device 102, the determined tracking tag ID tothe determined object ID. In one example of step 362, assignment device102 stores determined tracking tag ID 330 as tag ID 124 within objecttracking database 120 and in association with determined object ID 122.

Steps 364 and 366 are optional. In step 364, if included, method 350determines, within assignment device 102, characteristics for thetracking tag based upon the determined object ID. In one example of step364, assignment device 102 determines a chirp rate 128 associated withactivity 126 of object ID 122 from database 120. In step 366, ifincluded, method 350 configures, using transmitter 108 controlled byassignment device 102, characteristics of the tracking tag. In oneexample of step 366, assignment device 102, using transmitter 108, setschirp rate 222 of tracking tag 110 based upon chirp rate 128 determinedin step 364.

Steps of method 350 may occur in a different order without departingfrom the scope here; for example, step 352 may occur after step 356 or358.

FIG. 4 shows one exemplary associative object tracking system 400tracking objects of interest (OOI) 402 during a football game within anarea 404. Area 404 represents the playing field for the football game,for example and OOI 402 includes players 402(1-5) and 402(7-9),officials, and game equipment, such as a football 402(6) for a footballgame and a puck for a hockey game. In particular, OOI 402(1)-402(5) arefootball players (e.g., player 150, FIG. 1) of a first team, OOI 402(6)is a football, and OOI 402(7)-402(9) are football players of a secondteam.

A tracking apparatus 408 receives tracking information 406 and trackseach OOI 402 within area 404. Tracking apparatus 408 has an objecttracking database 420 that is used to store tracking information of OOI402. Database 420 may be implemented within memory of a computer system(e.g., a server) for example In one embodiment, database 420 is arelational database that stores operational parameters, tracking dataand other information of system 400. Database 420 is illustrativelyshown with an object table 450, a timeout period table 452, a minimumre-track period table 454, and a maximum association distance table 456.Object table 450 stores OOI identification information and assignment oftracking devices. Timeout period table 452 stores a timeout period foreach tracking tag and/or OOI 402. Minimum re-track period table 454stores a re-track period for each tracking tag and/or OOI 402. Maximumassociation distance table 456 stores a maximum distance for which anassociation may occur for each tracking tag and/or OOI 402. A virtualtag table 458 stores a list of virtual tags that may be assigned to oneor more OOI 402 (e.g., ball OOI 402(6)) and an associated tag that isused to determine a location of the virtual tag during associativetracking. Database 420 may also include an associative rules table 460that defines additional (i.e., in addition to those defined withintables 452, 454, 456 and 458) rules for associative tracking and isdescribed in detail further below.

In one embodiment, each OOI 402 has at least one tracking tag (e.g.,tracking tag 110) that send signals to receivers (not shown) of trackingapparatus 408. Tracking apparatus 408 may include functionality ofsystem 100, 140 that automatically assigns tracking tags to each OOI. Inanother embodiment, tracking apparatus 408 has two or more cameras (notshown) that track each OOI 402 visually within area 404. Trackingapparatus 408 may operate with any type of object tracking method.

Tracking apparatus 408 periodically, for example, determines and/orreceives tracking information 406 for each OOI 402 within area 404 anddetermines and stores location information for each OOI 402 based upontracking information 406. However, when tracking information from an OOI402 is temporarily blocked, such as when line of sight from that OOI tothe detecting device (e.g., camera and/or radio receiver) is blocked byanother object, location data for that OOI cannot be directlydetermined.

In the example of FIG. 4, OOI 402(6) represent a football that is oftenhidden from view and has its line-of-sight path to the detecting device(e.g., camera and/or radio receiver) blocked by other OOI, such as whenthe football is shielded from view during a play. Since location of OOI402(6) is occasionally missed, tracking apparatus 408 is configured toassociate the blocked OOI with a nearest tracked OOI based uponproximity when the data was first missed. The following continues withthe football example of FIG. 4; however, tracking apparatus 408 andassociative tracking may be used in other applications. For example,system 400 and associative tracking may also be used in basketball andsoccer.

FIG. 5A is a snapshot showing exemplary positions of OOI 402 in area 404as determined by tracking apparatus 408 a short period after thepositions illustrated in FIG. 4. Specifically, in the football exampleshown, the snap has occurred and a Quarterback 402(1) has or isreceiving ball 402(6). Quarterback 402(1) and ball 402(6) are separatedby a distance 502. FIG. 5B is a snapshot showing positions of theplayers, as determined by tracking apparatus 408, a short time after thesnapshot of FIG. 5A. However, the tracking signal of ball 402(6) isblocked by Quarterback 402(1) and thus the location of the ball cannotbe directly determined by tracking apparatus 408 from trackinginformation 406.

Tracking apparatus 408 utilizes a tracking reliability monitor (TRM) 410to determine a data reliability metric (DRM) 411 for trackinginformation 406 received for each tracked object 402. DRM 411 is arelative measurement of how reliable each determined location is. Withindatabase 420, a DRM table 462 may store the latest DRM 411 for eachtracked object 402. Database 420 also includes a DRM threshold table 464that defines a DRM threshold for each tracked object 402. This DRMthreshold defines a minimum DRM value For example, associative tracker412 may use DRM 411 and an associated DRM threshold from DRM thresholdtable 464 to determine when tracking information 406 for OOI 402(6) isnot reliable enough for use, or is missing. TRM 410 may include a timerthat determines when tracking information 406 for each tracked object402 is not received and thereby reduce the DRM 411 for that trackedobject. For example, where tracking information 406 is expected from OOI402(6) every 300 ms, TRM 410 may reduce the associated DRM 411 for each310ms period that tracking information 406 for OOI 402(6) is notreceived. Where DRM 411 is below its associated DRM threshold, TRM 410triggers an associative tracker 412 that associates OOI 402(6) with aclosest tracked object. In one embodiment, DRM 411 is determined fortracking information received for each tracked OOI 402.

TRM 410 determines DRM 411 for each determined location of each OOI 402.Where location of OOI 402 is derived from multiple detectors positionedaround the operational area 404 (e.g., radio receivers in the case oftracking tags and cameras in the case of visual tracking), location maybe determined in more than one way, for example using differentcombinations of detector. Ideally, each location determined from each ofthe different combinations of detectors would result in substantiallythe same determined location. However, in reality, each detectorcombination typically generates a slightly different location for theOOI 402. In one embodiment, DRM 411 is derived from a measurement of thespread between the locations determined for a particular OOI 402 fromeach different detector combination. The greater the spread in thesedetermined locations, the lower the DRM 411 for that determinedlocation. In the football example of FIG. 4, where DRM 411 is below aDRM threshold defined within DRM threshold table 464 for ball 402(6),associative tracker 412 is triggered to associate ball 402(6) with thenearest other player 402.

With visual tracking systems using more than three cameras (not shown),DRM is similarly calculated. With the visual tracking system, DRM mayalso be based upon a calculated reliability of the image recognition(e.g., of recognizing the ball within the captured images).

Once triggered, associative tracker 412 determines a last location andtime determined from received tracking information 406 for the blockedOOI 402(6) and then determines the closest other OOI 402 at that time.For example, if football 402(6) was last determined as proximate toQuarterback 402(1), as shown in FIG. 5A, Quarterback 402(1) would beautomatically identified as the closest other OOI 402. Associativetracker 412 then associates the location of football 402(6) with that ofQuarterback 402(1), until further location information 406 from football402(6) is again received by tracking apparatus 408. That is, thelocation of football 402(6) is updated as the location of Quarterback402(1) changes. When location information 406 of football 402(6) isagain received by tracking apparatus 408, the location of football402(6) is determined from the received location information.

FIGS. 8A and 8B are flowcharts illustrating exemplary methods forprocessing received tracking information within tracking apparatus 408and associative tracking for when tracking information is not received.Respective methods 800 and 850 are for example implemented withintracking apparatus 408, FIG. 4. In step 802, method 800 receivestracking information of tracked objects of interest. In one example ofstep 802, tracking apparatus 408 receives tracking information 406 ofOOI 402. In step 804, method 800 determines DRM 411 for the trackinginformation of the tracked object. In one example of step 804, TRM 410determines DRM 411 from tracking information 406 for OOI 402(6). In step806, method 800 determines a location of the tracked object based uponthe tracking information. In one example of step 806, trackinginformation 406 is decoded to determine the location of OOI 402(6). Instep 808, method 800 stores the determined location and DRM of thetracked object. In one example of step 808, tracking apparatus 408stores the determined location of OOI 402(6) within tracking data 466 ofdatabase 420 and store the determined DRM 411 within database 420. Steps802 through 804 repeat for received tracking information.

Method 850 is invoked when DRM 411, determined in step 804 of method800, falls below a DRM threshold, which indicates that the trackinginformation cannot be used to locate the associated OOI 402. Method 850is invoked for each OOI 402 for which tracking information is notreceived or cannot be used. In step 852, method 850 determines the lastlocation and last time for received tracking information for thetimed-out OOI. In one example of step 852, where method 850 is invokedfor OOI 402(6), associative tracker 412 determines, from tracking data466, a last determined location and time for OOI 402(6), shown in thesnapshot of FIG. 5A. In step 854, method 850 determines a closesttracked object to the determined last location and at the determinedlast time. In one example of step 854, associative tracker 412 invokes aproximity detector 414 to identify Quarterback 402(1) as being theclosest OOI 402 to ball 402(6) at the determined last time, as shown inthe snapshot of FIG. 5A.

Step 856 is a decision. If, in step 856, method 850 determines that theclosest OOI identified in step 854 is close enough for associativetracking, method 850 continues with step 858; otherwise, method 850terminates. In step 858, method 850 associates the timed-out object withthe closest object. In one example of step 858, associative tracker 412stores the ID of a tracking tag PT-01 within a virtual tag VT-01 of ball402(6), within table 650 (FIG. 6B, described below), to associate ball402(6) with Quarterback 402(1). In step 860, method 850 stores thelocation of the timed-out object based upon the location of theassociated object. In one example of step 860, associative tracker 412stores a location ‘A’ of Quarterback 402(1) within row 612 and column608 of table 600 (FIG. 6A, described below) as the associative locationof ball 402(6).

Smooth Associative Tracking

Although the above associative tracking improves the tracking of OOIthat temporarily become hidden from view and/or have trackinginformation blocked, certain erratic behavior may result sinceoccasional loss of tracking data does occur. Intermittent associationand disassociation of an object with another object because of verytemporarily missed location information may be perceived as ‘jumping’ or‘flickering’ of the tracked position as the object switches positionbetween an associated location and a derived location. As noted above,it is normal that tracking information is occasionally lost or blocked.For example, a signal from a tracking tag may be temporarily blocked byanother object. Similarly, an object may be temporarily blocked by otherobjects from view by a visual tracking system.

To prevent such flickering, system 400 utilizes configurable parametersthat control when associative tracker 412 associates and disassociates afirst OOI with a second tracked OOI. For example, by comparing DRM 411to a DRM threshold (or two thresholds such as association anddisassociation DRM thresholds), and using a maximum tracking fail periodand minimum re-tracking period, erratic associative jumping andflickering is minimized

Tracking apparatus 408 may include DRM threshold table 464 thatspecifies the DRM threshold (optionally a DRM threshold for associationand a DRM threshold for disassociation), a maximum track fail periodtable 468 that specifies, for each OOI 402, the maximum track failperiod, and minimum re-track period table 454 that specifies, for eachOOI 402, the minimum re-track period. In one example of operation, ifDRM 411 of tracking information falls below the DRM threshold (or ismissing) for at least the maximum track fail period, associative tracker412 is triggered to associate location of OOI 402 with another OOI.Similarly, if location for an OOI is associated with another OOI, TRM410 triggers associative tracker 412 when tracking information 406 fromthat OOI is above the DRM threshold stored within DRM threshold table464 for more than the minimum re-track period stored within minimumre-track period table 454.

Further, tracking apparatus 408 may also include a minimum re-trackingdistance table 470 that specifies a minimum re-tracking distance. Whentracking information is again received for the OOI, if the distancebetween the location derived from the tracking information and thelocation of the OOI to which the association is made is greater than theminimum re-tracking distance, the OOI may be disassociated. The use ofminimum re-track period table 454 and minimum re-tracking distance table470 prevents erratic tracking of the object where tracking information406 is intermittent.

Tracking apparatus 408 may also have a maximum association distance 456that defines a maximum distance over which a tracking association may beformed. For example, associative tracker 412 may associate football402(6) with Quarterback 402(1) when distance 502 between the two is lessthan the maximum association distance stored within maximum associationdistance table 456. The maximum association distance is for example 2feet within a football game. However, where used to track players inother sports, the maximum association distance may be specified for thatsport. In lacrosse, for example, the maximum association distance may be4 feet. In one embodiment, minimum re-track period table 454, maximumassociation distance table 456, maximum track fail period table 468,minimum re-tracking distance table 470, DRM threshold table 464, andassociative rules table 460 are configured based upon the sport beingtracked.

In one embodiment, each OOI 402 is assigned a tracking tag (e.g.,automatically assigned by system 100, 140, FIGs. 1A, 1B). This physicalassignment of tracking tags is recorded within database 420.

FIG. 6A shows one exemplary table 600 storing information of OOI andassigned tracking tags. An OOI ID column 602 stores an identity of eachOOI being tracked by system 400. For clarity of this example, theidentification number of OOIs within FIG. 4A are shown within column602; however, other identification may be used without departing fromthe scope hereof. For example, a player's jersey number may be used foridentification within column 602. A description column 604 is shown forclarity of illustration and is optional. Column 604 provides adescription of the OOI being tracked, and in this example indicates theposition of the player on the football field, or the ball. A tag IDcolumn 606 stores the ID of the tracking tag assigned to the OOI beingtracked. In one embodiment, column 606 is populated automatically bysystem 100, FIG. 1. In an alternate embodiment, column 606 is manuallypopulated. A location column 608 stores the determined location of theOOI being tracked. Location column 608 is updated by tracking apparatus408 as tracking information 406 is received. For example, location A isdetermined from tracking information 406 received from tracking tagPT-01 that assigned to Quarterback 402(1), as indicated in row 610 oftable 600. Location A is therefore inserted into location column 608 ofrow 610 as the current location of OOI 402(1).

Information of OOI 402(6) is stored in row 612 of table 600, whichindicates that OOI 402(6) is a ball (column 604) that is assigned avirtual tag ID “VT-01” in column 606. Although OOI 402(6) does havetracking tag BT-01 assigned to it (see FIG. 6B), the use of virtual tagID “VT-01” within table 600 facilitates associative tracking of the ballby system 400.

FIG. 6B shows one exemplary virtual tag table 650 which, within row 660,associates virtual tag ID “VT-01” in column 652 with the actual trackingtag “BT-01” in column 654 that is assigned to OOI 402(6). An associatedtag column 656 allows the virtual tag identified in column 652 to beassociated with another tracking tag, illustratively shown as trackingtag ID “PT-01.” Associated tag column 656 is populated when trackingdata from actual tag BT-01 is not received and associative tracker 412utilized proximity detector 414 to determine a nearest tracking tag forassociation with virtual tag “VT-01”.

Although only OOI 402(6) (the ball in the example of FIG. 4) is shownwith assigned virtual tag, other tracked OOI may also be assignedvirtual tags where associative tracking is desired.

Enhanced Associative Tracking

In real world scenarios, where players intentionally hide the ball in anattempt to deceive opponents, tracking systems that do not employassociation, human camera operators, and spectators alike are likelyalso deceived. Even when an associative tracking methodology is used,there will be instances where additional intelligence must be built intothe system in order to ensure the highest level of continuous andaccurate OOI tracking. Particularly where a change of ball possessionoccurs while the ball is hidden.

To improve associative tracking, additional intelligence may beincorporated into associative tracker 412 to enhance tracking of OOIswhen tracking information is unreliable or is missing. This additionalintelligence may be based upon specific sport knowledge, wherein theprobability of certain scenarios is predetermined and used by trackingapparatus 408 together with a probability threshold for associativetransfers. By using this additional intelligence, tracking apparatus 408will increase the likelihood of making correct associations.

FIGS. 7A and 7B show two later snapshots of positions of players withinarea 404. FIGS. 5A, 5B, 7A, and 7B thus show a sequence of events inchronological order and are best viewed together with the followingdescription.

As noted above and shown in FIG. 5A, Quarterback 402(1) was closest toball 402(6) when tracking information 406 of ball 402(6) was blocked,and thus the location of ball 402(6) is associated with Quarterback402(1), and shown collocated with Quarterback 402(1) in FIG. 5B. Asknown to those that follow football, it is likely that Quarterback402(1) is intentionally hiding ball 402(6) in an attempt to deceive theopposing team. While tracking information of ball 402(6) is notavailable, additional intelligence may be used by associative tracker412 to track movements of ball 402(6) based upon movements of other OOI402.

In a first example of applying additional intelligence to associativetracking, the snapshot of FIG. 5B shows that Quarterback 402(1) andHalf-back 402(2) have come into contact with (or at least very close to)one another, and in this example, Quarterback 402(1) hands ball 402(6)to Half-back 402(2), who also keeps ball 402(6) covered to furtherdeceive the opposing team. Additional intelligence within trackingapparatus 408 indicates that a ball transfer between a Quarterback and aHalf-back is likely, and therefore ball 402(6) becomes associated withHalf-back 402(2) and disassociated with Quarterback 402(1).

Specifically, tracking apparatus 408 includes associative rules table460 within object tracking database 420 to define when close proximityof a player with an associative ball is likely to transfer the ball tothe other player. For example, associative rules table 460 may define aprobability of transfer between each player on a team.

In FIG. 7A, Quarterback 402(1) has continued to stay ‘in the pocket’,while Half-back 402(2) has advanced with the ball, although trackinginformation 406 of ball 402(6) is still not received by trackingapparatus 408. In FIG. 7B, Half-back 402(2) has continued to runforwards with ball 402(6), and tracking information 406 of ball 402(6)is again received by tracking apparatus 408 and the location of ball402(6) is derived directly (i.e., without association).

Continuing with the exemplary scenario of FIG. 7A, as described above,associative tracker 412 has associated ball 402(6) with the location ofHalf-back 402(2), since Half-back 402(2) came into contact withQuarterback 402(1) while ball 402(6) was associated with Quarterback402(1). Specifically, intelligence within tracking apparatus 408 hasdetermined that ball 402(6) is most probably carried by Half-back402(2). However, if an associative transfer of ball 402(6) has been madeand tracking information 406 for ball 402(6) is momentarily received,but not received for long enough that ball would be disassociated withHalf-back 402(2), associative tracker 412 may re-evaluate theassociative transfer of the ball 402(6). For example, associativetracker 412 may re-evaluate the transfer of association of ball 402(6)from Quarterback 402(1) to Half-back 402(2). If associative tracker 412determines that the momentary tracking information indicates that thetransfer is incorrect (e.g., that the location of ball 402(6) is closerto Quarterback 402(1) that to Half-back 402(2)), associative tracker 412may reverse the earlier associative decision and associate ball 402(6)with Quarterback 402(1). Provided the momentary tracking information 406is of sufficient reliability (e.g., using DRM 411) to resolve theproximity of ball 402(6) to players involved in an associative transfer,associative tracker 412 may correct associative transfers that proveincorrect.

Further, where output of tracking apparatus 408 is provided to a delayedfeed, associative transfer decisions may be resolved prior to output,such that the user (e.g., a viewer) of the tracking information from anoutput generator 416 receives higher quality tracking information.Effectively, using the look-ahead allowed by a delayed feed, speculativeassociative transfers may be resolved prior to output of the locationinformation from output generator 416. See FIG. 12 and the associateddescription below.

In another example, where ball 402(6) is associated with Quarterback402(1), and Quarterback 402(1) comes into contact with Left Tackle402(3), additional intelligence within tracking apparatus 408 determinesthat a ball transfer between Quarterback 402(1) and Left-Tackle 402(3)is not likely, and therefore ball 402(6) remains associated withQuarterback 402(1) in this example.

Due to the unpredictable nature of sports, even with additionalintelligence, there will be instances where tracking information of theOOI is not available and a likely transfer between players does nothappened or an unlikely transfer does happen. In these instances,regardless of whether or not the correct association is made, theposition of the OOI is immediately resolved once the trackinginformation is again received.

Association Assignment by Proximity Sensing

In the vast majority of situations, system 400 makes a correctassociation between a first OOI (e.g., ball 402(6)) and a second OOI(e.g., Quarterback 402(1)). However, since system 400 is not receivingtracking information from the first OOI, the possibility exists that anincorrect association is made and is not detected until the trackinginformation for the associated OOI is again received (e.g., when the DRM411 of ball 402(6) rises above the DRM threshold).

To improve reliability of associative tracking, local proximity sensingis used to associate a first OOI with a second OOI, which eliminatesincorrect association of the first OOI (e.g., ball 402(6)) with atracked OOI (e.g., Half-back 402(2)) when a probable association isincorrect.

FIG. 9 shows one exemplary tracking tag 902, similar to tracking tag 110of FIG. 2, which also includes a proximity sensor 930. FIG. 10 shows oneexemplary tracking tag 1002, similar to tracking tag 110 of FIG. 2,which also includes a proximity transmitter 1030. FIGS. 9 and 10 arebest viewed together with the following description. Proximitytransmitter 1030 generates a proximity signal that has a limited range.Proximity sensor 930 detects the signal (i.e., an electromagneticsignal) from proximity transmitter 1030 provided that proximity sensor930 is within the limited range of proximity transmitter 1030. In oneexample, proximity transmitter 1030 has a range of two feet, wherein themaximum distance between tracking tag 1002 and tracking tag 902 whereproximity sensor 930 is able to detect the proximity signal fromproximity transmitter 1030 is two feet. The proximity signal is forexample one of a short range wireless signal and a magnetic signal. Inone embodiment, proximity transmitter 1030 is a magnet and proximitysensor 930 is a magnetic detector. The range of proximity transmitter1030 is for example selected based upon a sport being tracked. The aboveexample of two feet is based upon using tracking tag 1002 withinfootball, whereas a range of four feet (or more) may be selected fortracking tag 1002 where it is incorporated within a lacrosse ball.

Proximity transmitter 1030 continuously emits the proximity signal suchthat tracking tag 902 may detect when tracking tag 1002 is within range(e.g., within two feet). In one example of operation, tracking tag 902is attached to a football player (e.g., Quarterback 402(1)) and trackingtag 1002 is fabricated within a football (e.g., ball 402(6)). When,within tracking tag 902, proximity sensor 930 detects the proximitysignal from proximity transmitter 1030, processor 202 determines thattracking tag 1002 is within range of tracking tag 902 and sets an “OOIProximity” bit within a tracking signal (e.g., a chirp) transmitted bytransmitter 206 of tracking tag 902. This OOI proximity bit is clearedby processor 202 when proximity sensor 930 indicates that the proximitysignal is not detected. In an alternate embodiment, where trackinginformation is determined visually through use of two or more cameras,transmitter 206 of tracking tag 902 transmits a wireless signalcontaining the OOI proximity bit and identification information of thetransmitter such that a receiver of the signal may determine that thefirst OOI is proximate to the second, particularly when the visualtracking information is blocked.

It should be noted that proximity detection of tracking tag 1002 bytracking tag 902 occurs within tracking tag 902 and does not requirelocation information to be derived for either tracking tag 902 ortracking tag 1002 to determine their proximity to one another.Specifically, tracking tag 902 may determine when tracking tag 1002 isproximate thereto (within range) independently of other trackingfunctionality.

Where tracking tags 902 and 1002 are used within system 400, for examplein place of tracking tags 110, OOI proximity information is transmittedby transmitter 206 as part of the “chirp” used to locate tracking tag902. The OOI proximity information received within tracking information406 is used by associative tracker 412, in conjunction with locationinformation derived from tracking information 406, to associate oneobject with another when location information for that object cannot bedetermined. For example, when DRM 411 of ball 402(6) falls below the DRMthreshold defined within DRM threshold table 464, associative tracker412 determines which tracking tag, or tracking tags, have their OOIproximity bit set, and associates tracking ball 402(6) accordingly. Ifmore than one tracking tag 902 indicates OOI proximity, then thesetracking tags, and associated OOI (e.g., players) are close togethersuch that association may be made to any one of them. Where multipletracking tags 902 indicate OOI proximity, association may be based uponadditional rules, such as: sport specific knowledge that defines aprobability ranking of the tracked objects (e.g., players) forassociation, and association history wherein, if the associativeprobability of the objects indicating OOI proximity is equal, theassociation is made with the one object having the most recent previousassociation.

The advantage of determining association of one object to another basedupon OOI proximity information, as compared to determining associationbased upon the last known position of the OOI, is realized when thetracked objects separate and the number of tracking tags 902 indicatingOOI proximity is reduced to one. The remaining OOI proximity indicationallows the association to the correct objects to approach 100%reliability, even when the location information for the associatedobject cannot be determined.

Where location of an object cannot be determined and association to asecond object is based upon one or more of last known location,historical data and sport specific knowledge, a high probability ofcorrect association may be achieved. Where that association is alsobased upon proximity detection, the probability of correct associationincreases to 100%, particularly as the indication of OOI proximityreduces to a single OOI.

FIG. 11 is a flowchart illustrating one exemplary method 1100 fortracking a first object for which sufficient continuous trackinginformation is not available. Method 1100 is for example implementedwithin tracking apparatus 408, FIG. 4. In step 1102, method 1100 senses,at each of a plurality of second objects, proximity of the first object.In one example of step 1102, tracking tag 1002, FIG. 10, is attached toa football (first object) and a tracking tag 902, FIG. 1, is attached toeach of a plurality of football players (second objects), wherein eachtracking tag 902 senses when tracking tag 1002 is proximate usingproximity sensor 930 to detect a proximity signal from proximitytransmitter 1030. In step 1104, method 1100 detects when trackinginformation for the first object is not reliable or missing. In oneexample of step 1104, tracking apparatus 408 determines that trackinginformation for the ball (first object) is blocked based upon DRM 411 oftracking tag 1002. In step 1106, method 1100 identifies one of thesecond objects indicating proximity to the first object. In one exampleof step 1106, tracking apparatus 408 receives an indication of proximityto tracking tag 1002 from one tracking tag 902 of one player (secondobject). In step 1108, method 1100 associates the first object with thelocation of the one identified second object. In one example of step1108, associative tracker 412 of tracking apparatus 408 associates theball (first object) with the one identified player (second object) ofstep 1106.

Delayed Feed for Associative Transfer Resolution

The methods of object association described above are based uponidentifying a single point in time when the location of a first objectcannot be determined (or where reliability is below a definedthreshold), and determining the most likely second object with which toassociate the first object. Until location information for the firstobject can be determined again (or until reliability returns above adefined threshold), tracking the first object is based upon one or morerules defined for the sport being tracked. In a simple example, thefirst object remains associated with the second object until locationinformation for the first object is determined again. However, even whenenhanced associative tracking (described above) is applied, incorrectassociation of a ‘hidden’ object may occur where an unexpected actionoccurs with the object.

FIG. 12 is a graph 1200 illustrating exemplary timing of object trackinginformation output in association with a delay period 1202. That is,object tracking information is delayed from real-time 1210 by period1202 prior to output from system 400. For example, output of objecttracking data may be associated with a delayed video feed, as known inthe art where image processing is performed on the frames of capturedvideo prior to outputting the frames, such as occurs for the “yellowline” in football.

In the example of FIG. 12, tracking of a second object 1204 and a thirdobject 1220 (e.g., football players) by system 400 is substantiallycontinuous, but tracking of a first object 1206 (e.g., a football) isblocked at time 1214 for a period 1208 until tracking information offirst object 1206 is unblocked at time 1216. Based upon associativetracking methods described above, at time 1214, first object 1206 isassociated with second object 1204, nearest at that time. At time 1218,second object 1204 and third object 1220 come into close proximity ofone another, but rule evaluation within system 400 maintains theassociation of first object 1206 with second object 1204. At time 1216,when tracking information of first object 1206 is no longer blocked,system 400 determines that first object 1206 is not near second object1204, but is near third object 1220. Thus, although not determinedlikely by system 400, first object 1206 was transferred to third object1220 at time 1218, and for a period 1222 first object 1206 wasincorrectly associated with second object 1204. System 400 then modifiesthe stored associative tracking information for first object 1206 suchthat first object 1206 is associated with third object 1220 for period1222. Since tracking information is delayed for period 1202, theassociative tracking information is corrected by system 400 prior tooutput.

The use of delay period 1202 allows system 400 to verify and correctassociative tracking, if necessary, prior to output of the trackinginformation. Specifically, by configuring delay period 1202 to begreater than an expected maximum period (e.g., period 1208) of blockedtracking information, system 400 corrects tracking associations beforethey are output from system 400, thereby improving accuracy ofassociative tracking. That is, system 400 may correct associate trackingerrors that occur within delay period 1202, even if the trackinginformation for the associated object was blocked for a longer period.

Specifically, when location information is received for first object1206 after period 1208, system 400 evaluates the determined location offirst object 1206 against the location of associated second object 1204.If the distance between the locations of the first object and the secondobject is greater than a predefined threshold for associative tracking,system 400 then identifies the object closest to the first object, andthen traces the possession back to time 1218 when the transfer of firstobject from second object to third object occurred. Within the storeddata, this transfer is indicated by close proximity of second object1204 to third object 1220 at time 1218. System 400 then modifies thestored data to indicate the associative transfer of first object 1206 tothird object 1220 from second object 1204 at time 1218, therebycorrecting the associative tracking information prior to its output fromsystem 400.

From a viewer's perspective, when watching a display generated fromobject tracking data output by system 400 for the above example, thetransfer of the ball (first object 1206) from a first player (secondobject 1204) to a second player (third object 1220) is indicated withinthe tracking data at the correct time. For example, where objecttracking data is output from system 400 and accompanies a delayed videofeed, the position of the ball is indicated correctly by the trackingdata, even when it is not clear from the displayed video.

Where system 400 provides tracking information for “off-line” viewing,for example for viewing after a game has finished, delay period 1202 iseffectively the duration of the game thereby allowing system 400 todetect and correct, if necessary, associative transfers for the entiregame, prior to the object tracking data being viewed and/or used. In oneexample of operation, object tracking data from system 400 is processedby a computer to generate a graphical representation of players and theball within football field. In another example of operation, objecttracking data from system 400 is processed by a computer to generate atextual display that lists the number (and optionally other information)of the player that has possession of the ball during a football game.

Changes may be made in the above methods and systems without departingfrom the scope hereof. It should thus be noted that the matter containedin the above description or shown in the accompanying drawings should beinterpreted as illustrative and not in a limiting sense. The followingclaims are intended to cover all generic and specific features describedherein, as well as all statements of the scope of the present method andsystem, which, as a matter of language, might be said to falltherebetween.

What is claimed is:
 1. A method for annotating a delayed feed of asporting activity with tracking information determined within a trackingapparatus for a plurality of objects, comprising: determining whencontinuous location tracking information for a primary one of theplurality of objects is not available; when, for a period when thecontinuous location tracking information for the primary object is notavailable and based upon a highest probability defined within one ormore predetermined scenarios of the sporting activity, speculativelyassociating the primary object with a first one of two secondary ones ofthe plurality of objects that are proximate a last location of theprimary object; when the continuous location tracking information forthe primary object becomes available after the period, receiving anupdated location for the primary object and evaluating correctness ofthe speculative association of the primary object with the firstsecondary object based upon the updated location, to produce anon-speculative association of the primary object with one of thesecondary objects; and outputting the delayed feed with the trackinginformation for the first object based upon tracking information of thenon-speculatively associated one of the secondary objects during theperiod when the continuous location tracking information is notavailable.
 2. The method of claim 1, the step of outputting comprising:when the step of evaluating determines that the speculative associationis correct, outputting tracking information for the primary object tothe delayed feed during the period, to define the location of theprimary object as the location of the first secondary object; and whenthe step of evaluating determines that the speculative association isincorrect, outputting tracking information for the primary object to thedelayed feed during the period to define the location of the primaryobject as the location of the other of the two secondary objects.
 3. Themethod of claim 1, the continuous location tracking information for theprimary object being determined by wirelessly receiving a signaltransmitted by a tracking tag attached to the primary object.
 4. Themethod of claim 1, in the step of speculatively associating, the firstsecondary object being non-speculatively associated with the primaryobject prior to the step of speculatively associating.
 5. The method ofclaim 1, the step of determining when continuous location trackinginformation for the primary object is not available comprisingdetermining a data reliability measurement (DRM) for the continuouslocation tracking information, wherein the continuous location trackinginformation is determined to not be available when the DRM is below aDRM threshold.
 6. The method of claim 1, the step of speculativelyassociating comprising speculatively associating the primary object withthe first secondary object according to the one or more associativerules of the predetermined scenarios, the associative rules definingwhen close proximity of the primary object and at least two otherobjects to each another is likely to result in transfer of the primaryobject to one of the at least two other objects.
 7. The method of claim1, wherein the primary object is one of a football, a soccer ball, ahockey puck, and a lacrosse ball and the sporting activity is selectedfrom the group consisting of American football, soccer, ice hockey, andlacrosse.
 8. The method of claim 7, wherein the secondary objects areplayers in the sporting activity.
 9. An associative tracking apparatusfor annotating a delayed feed of a sporting activity with trackinginformation determined within a tracking apparatus for a plurality ofobjects, comprising: a tracking reliability monitor for determining whencontinuous location tracking information for a primary one of theplurality of objects is not available; an associative tracker for (a)speculatively associating, when notified by the tracking reliabilitymonitor that continuous location tracking information for the primaryobject is not available and based upon a highest probability definedwithin one or more predetermined scenarios of the sporting activity, theprimary object with a first one of two secondary ones of the pluralityof objects that are proximate a last location of the primary object, (b)when the continuous location tracking information for the primary objectbecomes available, receiving an updated location for the primary objectand evaluating correctness of the speculative association of the primaryobject with the first secondary object based upon the updated location,to produce a non-speculative association of the primary object with oneof the secondary objects; and (c) producing the tracking informationwith tracking information for the first object, during period when thecontinuous location tracking information is not available, being basedupon tracking information of the non-speculatively associated one of thesecondary objects; and an output generator for outputting the trackinginformation with the delayed feed.
 10. The associative trackingapparatus of claim 9, the associative tracker configured to, prior tothe step of speculatively associating, non-speculatively associate theprimary object with the first secondary object.
 11. The associativetracking apparatus of claim 9, the tracking reliability monitor beingfurther configured to determine that continuous location trackinginformation for the primary object is not available when a datareliability measurement (DRM) for the continuous location trackinginformation is below a DRM threshold.
 12. The associative trackingapparatus of claim 9, wherein the predetermined scenarios of thesporting activity have one or more associative rules that define whenclose proximity of the primary object with at least two other objects islikely to result in transfer of the primary object to one of the atleast two other objects.
 13. The associative tracking apparatus of claim9, wherein the primary object is one of a football, a soccer ball, ahockey puck, and a lacrosse ball and the sporting activity is selectedfrom the group consisting of American football, soccer, ice hockey, andlacrosse.
 14. The associative tracking apparatus of claim 13, whereinthe secondary objects are players in the sporting activity.